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Rover: use common mission logging code

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This commit is contained in:
Peter Barker 2015-06-24 12:13:24 +10:00 committed by Andrew Tridgell
parent 3fce7eb21a
commit 4b0495bb15
4 changed files with 4 additions and 28 deletions
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4
APMrover2/GCS_Mavlink.cpp
View File

@ -1105,11 +1105,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
}
// XXX receive a WP from GCS and store in EEPROM
// GCS has sent us a mission item, store to EEPROM
case MAVLINK_MSG_ID_MISSION_ITEM:
{
if (handle_mission_item(msg, rover.mission)) {
rover.Log_Write_EntireMission();
rover.DataFlash.Log_Write_EntireMission(rover.mission);
}
break;
}

24
APMrover2/Log.cpp
View File

@ -189,14 +189,6 @@ void Rover::Log_Write_Performance()
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
// Write a mission command. Total length : 36 bytes
void Rover::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
{
mavlink_mission_item_t mav_cmd = {};
AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
}
struct PACKED log_Steering {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -235,19 +227,7 @@ void Rover::Log_Write_Startup(uint8_t type)
// write all commands to the dataflash as well
if (should_log(MASK_LOG_CMD)) {
Log_Write_EntireMission();
}
}
void Rover::Log_Write_EntireMission()
{
DataFlash.Log_Write_Message_P(PSTR("New mission"));
AP_Mission::Mission_Command cmd;
for (uint16_t i = 0; i < mission.num_commands(); i++) {
if (mission.read_cmd_from_storage(i,cmd)) {
Log_Write_Cmd(cmd);
}
DataFlash.Log_Write_EntireMission(mission);
}
}
@ -439,11 +419,9 @@ void Rover::start_logging()
// dummy functions
void Rover::Log_Write_Startup(uint8_t type) {}
void Rover::Log_Write_EntireMission() {}
void Rover::Log_Write_Current() {}
void Rover::Log_Write_Nav_Tuning() {}
void Rover::Log_Write_Performance() {}
void Rover::Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
int8_t Rover::process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
void Rover::Log_Write_Control_Tuning() {}
void Rover::Log_Write_Sonar() {}

2
APMrover2/Rover.h
View File

@ -398,7 +398,6 @@ private:
void Log_Write_Performance();
void Log_Write_Steering();
void Log_Write_Startup(uint8_t type);
void Log_Write_EntireMission();
void Log_Write_Control_Tuning();
void Log_Write_Nav_Tuning();
void Log_Write_Sonar();
@ -481,7 +480,6 @@ private:
void frsky_telemetry_send(void);
void print_hit_enter();
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd);
void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
bool start_command(const AP_Mission::Mission_Command& cmd);
bool verify_command(const AP_Mission::Mission_Command& cmd);

2
APMrover2/commands_logic.cpp
View File

@ -9,7 +9,7 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
{
// log when new commands start
if (should_log(MASK_LOG_CMD)) {
Log_Write_Cmd(cmd);
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
// exit immediately if not in AUTO mode